Leadshine EM522-CAN, Руководство пользователя

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EM522-CAN Field bus Stepper Drive User Manual V1.0
13
60FD+00
Input port status
display
R 0
bit0: Negative limit;
bit1: Positive limit;
bit2: Home signal
bit3-bit15: Reserved;
bit16: Emergency stop
60FE+01/02
Output port status
display
R 0
When IO output function switch
to main station control, master
controller can use the
combination of 60FE+01 and
60FE+02 to control IO output:
When bit16 of 60FE+01and
60FE+02 are both "1",
OUTPUT1 have output
When bit17 of 60FE+01and
60FE+02 are both "1",
OUTPUT2 have output
and so on……
(EM522-CAN has only one
output port)
1010+01 Save configuration R/W
Write 1702257011
(0x65766173) to save
configuration
1011+01 Reset to factory R/W
Write 1684107116
(0x64616F6C ) to reset to
factory
2093+00
Eliminate
malfunction
records
R/W
Write 1 to eliminate alarm
records
!
Notice
Not es: (1) R/W/S means the parameter can be read/wrote/saved
4.5.2 Model and control
CANopen
Address
Name property Description
6040+00 Control word R/W Control the drive's status and operation
6041+00 Status word R Feedback current status of the drive
6060+00
Operational
mode
RW
1: Position mode
3: Speed mode
6: Homing mode
6061+00 Mode query R Check the operation mode of the drive
607A+00
Target
position
R/W Target position under working mode 1
6064+00
The actual
position
R The actual position
6081+00
Maximum
speed
R/W Maximum speed under working mode 1 (Position mode)